#ifndef __CONTROL_H_
#define __CONTROL_H_
#include "encoder.h"
#include "motor.h" 
#include "ccd.h"
#define SERVO_INIT 1500
#define T 0.156f
#define L 0.1445f
#define K 622.8f
int Incremental_PI_A (int Encoder,int Target);
int Incremental_PI_B (int Encoder,int Target);
void Xianfu_Pwm(void);
void Kinematic_Analysis(float velocity,float angle);
float Get_Angle(u16 CCD_Zhongzhi);
#endif
